| 基于模型参考模糊自适应的转台摩擦力矩补偿研究 |
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| 引用本文： | 姜云翔,王春喜,马玲,曹雪立,王茂,赵健.基于模型参考模糊自适应的转台摩擦力矩补偿研究[J].宇航计测技术,2018,38(4):43. |
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| 作者姓名： | 姜云翔 王春喜 马玲 曹雪立 王茂 赵健 |
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| 作者单位： | 1、北京航天计量测试技术研究所,北京 100076;
2、哈尔滨工业大学,哈尔滨 150001;
3、北京航天控制仪器研究所,北京 100039 |
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| 摘 要： | 为克服某型伺服转台在摩擦力矩干扰下引起的低速“爬行”问题,设计了基于模型参考模糊自适应的摩擦补偿控制方法;并基于所建立的数学模型对该摩擦补偿方法进行了lyapunov稳定性证明,采用Matlab进行了仿真试验分析。仿真结果表明,该摩擦补偿方法能够有效抑制摩擦干扰的不利影响,提升了转台低速跟踪的平稳性,从而显著提高了转台的低速伺服精度。
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| 关 键 词： | 伺服转台 模型参考 模糊自适应 摩擦补偿 |
Research of Friction Torque Compensation of Turntable Based on Model Reference Fuzzy Adaptive Method |
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| JIANG Yun-xiang,WANG Chun-xi,MA Ling,CA Xue-li,WANG Mao,ZHAO Jian.Research of Friction Torque Compensation of Turntable Based on Model Reference Fuzzy Adaptive Method[J].Journal of Astronautic Metrology and Measurement,2018,38(4):43. |
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| Authors: | JIANG Yun-xiang WANG Chun-xi MA Ling CA Xue-li WANG Mao ZHAO Jian |
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| Institution: | 1、Beijing Aerospace Institute for Metrology and Measurement,Beijing 100076,China;;
2、Harbin Institute of Technology,Harbin 150001,China;;
3、Beijing Institute of Aerospace Control Devices,Beijing 100039,China |
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| Abstract: | In order to restrain the significant low-speed "crawling" phenomenon caused by friction torque disturbance of servo turntable, a method of friction compensation based on model reference fuzzy adaptiveness was proposed. Based on the mathematic model, the friction compensation method is proved by the Lyapunov stabilization control theory and the simulation test is carried out by MATLAB. The simulation results show that the friction compensation method can effectively restrain the adverse effect of friction interference and improve the smoothness of low speed tracking of turntable, thus greatly improving the low-speed servo accuracy of the turntable. |
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| Keywords: | Servo turntable Model reference Fuzzy adaptive Friction compensation |
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